Trying to use Motion Velocity Planner without a map

[bill-freeman]

I am looking to use the motion velocity planner for longitudinal control of my vehicle, mainly for 3 scenarios; ACC, stop at fixed location, stop for an obstacle. I envision this working by publishing a trajectory along the path with a velocity of the speed I would like the vehicle to travel and feeding this trajectory to the motion velocity planner. Then allow the motion velocity planner to modify the trajectory using the loaded modules and information of obstacles or stop point. It seems that I would have to modify the code in the motion velocity planner to remove the constraint for a map for me to do this. Is this something you have done before and maybe you can point me in that direction? I am basically trying to use your longitudinal control methods without having a map, I would like to use them with just a desired trajectory and obstacle or stop point information.

[maxime-clem]

Modules of the motion_velocity_planner perform their reasoning in the map frame and it would require heavy changes to support working without a map.

A possible workaround is to use a fake map frame (set to some global frame like odom) and to generate a local map.
This is what was done for a past project: https://github.com/tier4/mapless_autoware
The motion_velocity_planner was not used in that project so I expect there would be additional issues to tackle to make it work.